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Laser and vision sensing for obstacle avoidance and target seeking for a simple mobile robot

Akmeliawati, Rini and Demidenko, Serge and Menon, Anuradha (2009) Laser and vision sensing for obstacle avoidance and target seeking for a simple mobile robot. International Journal of Intelligent Systems Technologies and Applications, 7 (1). pp. 118-136. ISSN 1740-8865

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Abstract

In this paper the use of laser and vision sensing for navigation of a simple fully-autonomous mobile robot capable of performing obstacle detection and avoidance functions is presented. The navigation system uses image processing and laser triangulation computation to detect obstacles on the path towards the pre-specified target. It then employs fuzzy logic to determine the movements of the robot to avoid the obstacles while to continuously progressing towards the target. A localization system of the robot is based on progressive calculation and updating of global (world) and object coordinates. The system is implemented using inexpensive commodity hardware and employs simple but effective data processing software and control algorithms.

Item Type: Article (Journal)
Additional Information: 5806/16156
Uncontrolled Keywords: : laser sensing, image processing, triangulation, target seeking, obstacle avoidance, fuzzy logic, autonomous mobile robot.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 23 Jan 2012 00:00
Last Modified: 25 Jan 2012 07:59
URI: http://irep.iium.edu.my/id/eprint/16156

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